US7824421B2 - Anchors for use in anastomotic procedures - Google Patents

Abstract

Disclosed is an instrument for use in a procedure to effect anastomosis of a patient's bladder and urethra following a prostatectomy having a tube assembly, and an end effector assembly operably supported by the tube assembly, where the end effector assembly includes an anchor for insertion into and through the patient's bladder wall and pelvic floor and an anchor guide associated therewith.

Description

RELATED APPLICATIONS

This application is a continuation-in-part of, and where permissible, claims the benefit of the effective filing date of, and incorporates by reference in its entirety, for any and all purposes, the following non-provisional application, and having inventors in common with the instant application: METHOD AND INSTRUMENT FOR EFFECTING ANASTOMOSIS OF RESPECTIVE TISSUES DEFINING TWO BODY LUMENS, Ser. No. 11/094,606, filed Mar. 30, 2005 now U.S. Pat. No. 7,500,980.

FIELD OF THE INVENTION

The present invention relates generally to the anastomosis of two hollow organs, a hollow organ and a vessel or two vessels, and is particularly directed to a method and embodiments of a device that accomplish the same in a minimally invasive manner. More particularly, the present invention also relates to an anastomosis instrument and method that may be used for the anastomosis of the bladder and urethra, especially after a patient's prostate has been removed in a prostatectomy.

BACKGROUND OF THE INVENTION

Prostate cancer is the second most common malignancy in males after cutaneous malignancies and is the second most common cause of cancer death among men in the United States. Prostate cancer is predominantly a disease of elderly men, and the absolute number of cases is expected to increase as worldwide life expectancy increases.

The retropubic approach to prostatectomy as a treatment for prostate cancer was introduced by Millin in 1947. The operation had distinct advantages over perineal prostatectomy in that urologists were more familiar with retropubic anatomy. The retropubic approach to radical prostatectomy also offers the advantage of the ability to perform an extraperitoneal pelvic lymph node dissection for staging purposes. During the past decade, modification in the technique of radical retropubic prostatectomy and the introduction of the anatomic nerve-sparing method resulted in a dramatic decrease in the two morbidities associated with the operation that cause the most concern—incontinence and impotence.

In a radical retropubic prostatectomy, the surgeon removes all or most of the patient's prostate. Because the urethra travels through the prostate, the upper part of the urethra is removed in the surgery. In order to restore proper urinary functions, the bladder and the urethra must be reconnected.

Providing this connection is particularly difficult due to the limited working space and the small size of the urethra. The size of the urethra makes it difficult to accurately place the suture thread through the wall of the urethra. Heretofore, surgeons would execute painstaking suturing operations with tiny, fine needles to reconnect the bladder to the urethra. It has been found that the use of sutures for this purpose has caused certain problems in recovery. These problems include necrosis of the sutured tissues, stricture of the urethra that impedes the flow of fluid through it, and a urethra-bladder connection that is not fluid-tight. In addition, when suturing the urethra to the bladder, the surgeon can possibly inadvertently pierce the nearby neurovascular bundle which can cause incontinence or impotence. The suturing process itself has also been found to be cumbersome, requiring the surgeon to grasp and stretch the bladder and urethra together before making the fine sutures. Sutures may also tear the urethra, resulting in further complications.

With radical retropubic prostatectomies becoming more common, faster and simpler ways to reconnect the bladder and urethra are in demand. It would be further advantageous to provide a means for the anastomosis of the urethra and bladder that does not require the use of potentially damaging sutures.

Additionally, there are other surgical procedures requiring the connection of vessels, hollow organs and tissues defining other body lumens. While some of these structures are large, and more easily manipulated by the surgeon, tissue structures defining other body lumens are smaller and more difficult to manipulate and hold in position while joining ends thereof after, for example, a transactional operation. Accordingly, a faster and simpler way to connect vessels, hollow organs and other tissues defining body lumens would be advantageous.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings incorporated in and forming a part of the specification illustrate several aspects of the present invention, and together with the description serve to explain the principles of the invention. In the drawings:

FIG. 1 is a partial, vertical sectional schematic depiction of the positional relationships of the human male bladder, prostate and urethra, and surrounding pelvic floor, prior to a prostatectomy;

FIG. 2 is a partial, vertical sectional schematic depiction of the positional relationships of the human male bladder and urethra, and surrounding pelvic floor, following a prostatectomy;

FIG. 3 is a perspective view of an exemplary version of an instrument within the scope of the present invention, including a handle assembly, a tube assembly and an end effector assembly;

FIG. 3A is a longitudinal cross-sectional view of the end effector assembly of the instrument shown inFIG. 3, shown encased within an end sheath;

FIG. 4 is a longitudinal cross-sectional view of the end effector assembly of the instrument shown inFIG. 3, shown after insertion into and through a patient's urethra and into the bladder opening;

FIG. 4A is a perspective view of the end effector assembly of the instrument shown inFIG. 3;

FIG. 5 is a longitudinal cross-sectional view of the end effector assembly shown inFIG. 3, with the positioner arms opened;

FIG. 5A is a perspective view of the end effector assembly of the instrument shown inFIG. 5;

FIG. 6 is a longitudinal cross-sectional view of the end effector assembly shown inFIG. 3, with the positioner arms opened and urging the bladder wall toward the pelvic floor;

FIG. 7 is a longitudinal cross-sectional view of the end effector assembly shown inFIG. 3, with the positioner arms and driver arms opened and urging the bladder wall toward the pelvic floor

FIG. 7A is a perspective view of the end effector assembly as shown inFIG. 7;

FIG. 8 is a longitudinal cross-sectional view of the end effector assembly shown inFIG. 3, after the driver arms have moved proximally to drive anchors through the bladder wall and into the pelvic floor;

FIG. 8A is a perspective view of the end effector assembly shown inFIG. 8;

FIG. 9 is a longitudinal cross-sectional view of the end effector assembly shown inFIG. 3, after the anchors have been released from the driver arms and the driver arms have been returned distally to their pre-driving positions and closed;

FIG. 9A is a perspective view of the end effector assembly shown inFIG. 9;

FIG. 10 is a longitudinal cross-sectional view of the end effector assembly shown inFIG. 3 after the driver arms have been closed and the positioner arms have released anchor guides and have been closed;

FIG. 10A is a perspective view of the end effector assembly shown inFIG. 10;

FIG. 11 is a longitudinal cross-sectional view of an installed balloon harness assembly;

FIG. 12 is a longitudinal cross-sectional view of the balloon harness assembly ofFIG. 11 with a balloon catheter shown inserted therein;

FIG. 13 is a longitudinal cross-sectional view of the balloon harness assembly and balloon catheter shown inFIG. 12, after the balloon of the balloon catheter assembly has been inflated;

FIG. 14 is a longitudinal cross-sectional view of the balloon harness assembly ofFIG. 12 as it is being everted for removal following removal of the balloon catheter assembly ofFIG. 12;

FIG. 15 is an axial cross-sectional view of an exemplary version of a tube assembly having actuating rods or bands disposed therein taken along line21-21 shown inFIG. 10;

FIG. 16 is a perspective view of an exemplary version of an anchor shown with an anchor guide shown in cross section and positioned at the forward end;

FIG. 16A is a front perspective view of an exemplary version of an anchor shown with an anchor guide shown in cross section and positioned at the rearward end;

FIG. 17A is a perspective view of an exemplary balloon harness within the scope of the present invention;

FIG. 17B is a perspective view of another exemplary balloon harness within the scope of the present invention;

FIG. 17C is a perspective view of another exemplary balloon harness within the scope of the present invention;

FIG. 17D is a perspective view of an exemplary version of an anchor guide that may be used with an instrument and/or method within the scope of the present invention;

FIG. 18 is a transverse (horizontal), superior (top) partial planar view of the human male pelvis and pelvic floor architecture, depicting exemplary locations for installation of anchors in a method within the scope of the present invention;

FIG. 19 is a longitudinal cross-sectional view of the distal portion of an exemplary balloon catheter assembly within the scope of the present invention;

FIG. 20 is a longitudinal cross-sectional view of the distal portion of another exemplary balloon catheter assembly within the scope of the present invention;

FIG. 21 is a longitudinal cross-sectional view of the distal portion of another exemplary balloon catheter assembly within the scope of the present invention;

FIG. 22 is a longitudinal cross-sectional view of the distal portion of another exemplary balloon catheter assembly within the scope of the present invention;

FIG. 23 is a perspective view of the proximal end of a catheter assembly having exemplary mechanisms for the pumping in of inflation fluid, the drainage of urine, and for holding a guide wire; and

FIG. 24 is a vertical side cross-sectional view of the end effector ofFIG. 9A.

Reference will now be made in detail to various alternative embodiments of the method and instrument of the invention, and various alternative components thereof, illustrated in the accompanying drawings.

DETAILED DESCRIPTION OF THE INVENTION

Before the present method and embodiments of an instrument are disclosed and described, it is to be understood that this invention is not limited to the particular process steps, components, and materials disclosed herein as such process steps, components, and materials may vary somewhat. It is also to be understood that the terminology used herein is used for the purpose of describing particular embodiments only and is not intended to be limiting since the scope of the present invention will be limited only by the appended claims.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood to one of ordinary skill in the art to which this invention belongs. Although any method, instrument and materials similar or equivalent to those described herein may be used in the practice or testing of the invention, particular embodiments of a method, instrument and materials are now described.

It must be noted that, as used in this specification and the appended claims, the singular forms “a,” “an,” and “the” include plural references unless the content clearly dictates otherwise.

In describing and claiming the present invention, the following terminology will be used in accordance with the definitions set out below.

As used herein, the term “anastomosis” means the surgical joining of respective tissues defining body lumens and other hollow body structures, especially the joining of hollow vessels, passageways or organs to create intercommunication between them.

The term “patient,” used herein, refers to any human or animal on which an anastomosis may be performed.

As used herein, the term “biocompatible” includes any material that is compatible with the living tissues and system(s) of a patient by not being substantially toxic or injurious and not causing immunological rejection. “Biocompatibility” includes the tendency of a material to be biocompatible.

As used herein, the term “bioabsorbable” includes the ability of a material to be dissolved and/or degraded, and absorbed, by the body.

As used herein, the term “shape memory” includes the tendency of a material, such as but not limited to a suitably prepared nickel-titanium alloy (“nitinol”), to return to a preformed shape, following deformation from such shape.

As used herein, the term “integral” means that two or more parts so described are affixed, fastened or joined together so as to move or function together as a substantially unitary part. “Integral” includes, but is not limited to, parts that are continuous in the sense that they are formed from the same continuous material, but also includes discontinuous parts that are joined, fastened or affixed together by any means so as to become substantially immovably affixed to, and substantially unitary with, each other.

As used herein, the term “proximal” (or any form thereof), with respect to a component of an instrument, means that portion of the component that is generally nearest the surgeon, or nearest to the end of the instrument handled by the surgeon, when in use; and with respect to a direction of travel of a component of an instrument, means toward the end of the instrument generally nearest the surgeon, or handled by the surgeon, when in use.

As used herein, the term “distal” (or any form thereof), with respect to a component of an instrument, means that portion of the component that is generally farthest from the surgeon, or farthest from the end of the instrument handled by the surgeon, when in use; and with respect to a direction of travel of a component of an instrument, means away from the end of the instrument generally nearest the surgeon, or handled by the surgeon, when in use.

As used herein, the term “transverse” (or any form thereof), with respect to an axis, means extending in a line, plane or direction that is across such axis, i.e., not collinear or parallel therewith. “Transverse” as used herein is not to be limited to “perpendicular”.

As used herein, the term “longitudinal axis”, with respect to an instrument, means the exact or approximate central axis defined by said instrument along its greater dimension, i.e., along its length, from its distal end to its proximal end, and vice versa, and is not intended to be limited to imply a straight line, wherein, for example, an instrument includes a bend angle as described herein, it is intended that “longitudinal axis” as used herein follows such bend angle. Where used in association with an end effector, the term “longitudinal axis” means the exact or approximate central axis defined by said end effector extending along its greater dimension, i.e., along its length, from its distal end to its proximal end, and vice versa.

The method and instrument of the present invention utilizes a simple, effective mechanical arrangement for performing anastomosis of respective tissues defining two body lumens, for example, connecting the bladder to the urethra following a prostatectomy. By eliminating more painstaking, cumbersome suturing techniques, anastomosis techniques are improved. For use in the disclosed procedure, there are provided various embodiments of an improved instrument for bringing bladder wall tissues into contact with the pelvic floor tissues, with the openings in the bladder and urethra aligned, and for securing them in position so that they may knit and heal together.

By utilizing the disclosed techniques and an instrument of the present invention, the number of steps in the anastomosis procedure may be decreased, decreasing cost and reducing the required time for the procedure. The present invention may also eliminate complications associated with other anastomosis techniques that require hand suturing.

The present invention provides for a system that allows for, for example, connecting the bladder to the urethra using an instrument inserted through the urethra and into the bladder (in retrograde direction) without the need for access inside the bladder for manipulation and actuation of the instrument. Alternatively, the system and instrument may be configured such that it may be inserted into the bladder and then the urethra in an antegrade direction through small incisions in the patient's abdomen and an upper surface of the bladder. Again, manipulation and actuation of the instrument may be performed by the surgeon from outside the patient's body.

Referring now to the drawings in detail, wherein like numerals indicate the same elements throughout the views,FIG. 1 schematically illustrates in vertical cross section the positioning of a humanmale bladder1,bladder wall2,prostate3,pelvic floor7 andurethra5, prior to a prostatectomy. In a radical prostatectomy, theprostate3, a lower portion of thebladder wall2, and an upper portion of theurethra5 are excised, removing the fluid connection between thebladder lumen8 and the remaining portion of the urethra. The substantially horizontal broken lines inFIG. 1 schematically illustrate the lines along which the prostate and adjacent bladder and urethra tissues are excised.

FIG. 2 schematically depicts a cross-section of the abdominal cavity following a radical prostatectomy wherein the excision of a portion of thebladder wall2 results in abladder opening4 and the excision of the prostate results in aurethra opening6 inurethra5. Following this surgery,bladder opening4 is typically reduced in size by means known in the art, such as a “tennis racket” suture technique.

GUIDED ANCHOR/BALLOON HARNESS EMBODIMENT

FIG. 3 depicts an exemplary embodiment of aninstrument3000 of the present invention, adapted for use in effecting the anastomosis of the bladder and urethra tissues following a radical prostatectomy in accordance with a method of the present invention. The instrument may comprise ahandle assembly3100, atube assembly3200 and anend effector assembly3400.End effector assembly3400 is adapted to facilitate retrograde insertion into and through a patient'surethra5 and into thebladder lumen8 through bladder opening4 (seeFIG. 2). It will be understood by those skilled in the art thatinstrument3000 can, alternatively, be designed and configured in an embodiment to be effective to perform steps substantially similar to those herein described via insertion from an antegrade direction, i.e., through incisions through the abdomen and an upper surface of the bladder (not shown), and downwardly through thebladder opening4 and intourethra opening6. An example of an instrument so configured is depicted and described in pending U.S. application Ser. No. 11/094,606.

FIGS. 3A-10A are longitudinal cross-sectional views ofend effector assembly3400, and perspective views associated therewith (FIGS. 4A,5A,7A,8A,9A, and10A), after insertion into and through the patient'surethra5 and into thebladder opening4 in various positions involved in its use. It can be seen thatend effector assembly3400 may comprisebody3401, distalend shield assembly3410,balloon harness3430 havingharness tip3434,anchor driver assembly3460, andpositioner assembly3440.Balloon harness3430 may be formed of a flexible polymeric material, or any suitable biocompatible material, and may be folded or compressed within distalend shield assembly3410, withtails3433 held by harness hooks760 ofanchors700 as illustrated.End effector assembly3400 and the assemblies it comprises may be operably connected to, and controlled by, handle assembly3100 (shown inFIG. 3), via movable members, such as bands, rods, and/or tubes, withintube assembly3200. Referring toFIG. 15,tube assembly3200 may comprise a two-piece spine member3210,guide wire3230, positioner rod orband3240, driver opening rod orband3260, driver actuating rod orband3261, anchorguide retainer wires3250 residing inretainer wire channels3265, andsheath3270.Spine member3210 andend effector body3401 each may be manufactured in two or more pieces, to facilitate manufacture and assembly of the instrument. The pieces ofspine member3210 andend effector body3401 each may be attached or held together by any suitable means. Referring again toFIG. 15,guide wire3230 may have a free proximal end and pass through any portion of the length of the instrument, and its distal end may be affixed and made integral with harness tip3434 (see, e.g.,FIG. 4) ofballoon harness3430 by any suitable means.

Referring toFIGS. 3A-10A, andFIG. 15, driver opening rod orband3260, driver actuating rod orband3261 and positioner rod orband3240 may ride longitudinally in proximal and distal directions within channels or tracks withinspine member3210 andend effector body3401, and may be longitudinally movable with respect to each other, and with respect tospine member3210 andend effector body3401. Rods orbands3260,3261 and3240 may be made of stainless steel, nitinol or any other material having suitable properties of tensile and compressive strength and flexibility, and be optimally sized and shaped, so as to be flexible and be capable of transmitting the pulling and pushing longitudinal forces necessary to actuate the instrument as described herein. Rods orbands3260,3261 and3240 also may be provided with a lubricant on the surfaces thereof to ease their movement, or the channels or tracks in which they ride may be provided with a suitable lubricant. Alternatively, any of rods orbands3260,3261 and3240 may be manufactured of joined materials, such as metal with a polymer sheath, wherein the polymer sheath has low surface friction and/or lubricating properties.

Body3401 may be attached and made integral withspine member3210 by any suitable means. Driver opening rod orband3260 may be linked at its proximal end to a suitable mechanism controlled by aknob3103 or other control comprised byhandle assembly3100, and may be linked at its distal end to each of driver arm struts3262 via driver openingscrew pin3263. Driver actuating rod orband3261 may be linked at its proximal end to a suitable mechanism controlled by alever3102 or other control comprised byhandle assembly3100 and may be linked at its distal end to anchordriver arms3461 via driveractuating screw pin3465.Anchor driver arms3461 may rotate about driveractuating screw pin3465 to partially extended, fully extended, and retracted positions as shown in the figures, in response to longitudinal movement of driver opening rod orband3260 acting upon driver arm struts3262 via driver openingscrew pin3263. Driveractuating screw pins3465 may ride longitudinally in driver actuation slots3402 (FIG. 5A) inbody3401. Thus,anchor driver arms3461 may travel longitudinally, in response to longitudinal movement of driver actuating rod orband3261 acting upon driveractuating screw pin3465. Positioner rod orband3240 may be linked at its proximal end to a suitable mechanism controlled by aknob3103 or other control comprised byhandle assembly3100 and may be linked at its distal end topositioner struts3445 via positioner actuating pins3446 (FIG. 5). Positioner actuating pins3446 may ride longitudinally inpositioner actuation slots3452 inbody3401. Thus, longitudinal movement of positioner rod or band3240 (FIG. 15) can effect corresponding longitudinal movement of positioner actuating pins3446 (FIG. 5), providing the corresponding deployment and retraction of thepositioner arms3441. The other ends of positioner struts3445 are connected to positionerarms3441 via positioner strut pins3447.

Anchor driver arms3461 may include anchor yokes3462. (See, for example,FIG. 5A.) Prior to their release as described below, anchors700 may be rotatably held inanchor yokes3462 by anchor axle pins712 (SeeFIG. 16).

As may be seen inFIGS. 5-7A and16, prior to the driving ofanchors700, forward ends751 ofanchors700 may be carried in anchor guides770. Anchor guides770 may be rotatably carried inguide yokes3448 ofpositioner arms3441, via anchor guide axle pins771 that may be carried in guideaxle pin notches3449 in guide yokes3448. Anchor guide axle pins771 may be retained in guideaxle pin notches3449 by anchorguide retainer wires3250. Referring toFIG. 15 and alsoFIGS. 4-10, anchor guide retainer wires3250 (see, for example,FIG. 5A) may be situated inchannels3265 inspine member3210 up to endeffector body3401, and then through retainer wire bores3451 inpositioner arms3441 and under anchor guide axle pins771 retained in guideaxle pin notches3449. As will be further explained below, during the procedure described herein anchorguide retainer wires3250 may be withdrawn from retainer wire bores3451 so as to release anchor guide axle pins771 from guideaxle pin notches3449. Anchorguide retainer wires3250 may be made of nitinol or any other material having suitable properties of tensile strength and flexibility to function effectively as described herein.

The connection and interaction of driver opening rod orband3260, driver actuating rod orband3261, and positioner rod orband3240, to actuate thepositioner assembly3440 andanchor driver assembly3460, will become apparent in the following description of the use and operation of the described version of the instrument.

As previously noted, and as shown inFIGS. 3A and 5,end effector assembly3400 may be inserted into and through the patient'surethra5 in a retrograde direction and into thebladder opening4, and then into thebladder lumen8.FIG. 4 depicts an end effector assembly in a pre-deployment position, andFIG. 5 depicts the same end effector assembly after insertion completely into thebladder lumen8, and afterpositioner arms3441 have been opened. From the differences in positions shownFIG. 4 andFIG. 5, it can be seen that proximal movement of positioner actuating pins3446 (effected by proximal movement of positioner rod orband3240, seeFIG. 24) has caused positioner struts3445 to push downwardly (relative to the figures) onpositioner arms3441 via positioner strut pins3447, causingpositioner arms3441 to open outwardly and downwardly, in a manner similar to that of an umbrella opening upside-down. Simultaneously, proximal movement of driver actuating rod or band3261 (seeFIG. 24) acting on driver actuating screw pin3465 (to whichanchor driver arms3461 are connected) can moveanchor driver arms3461 in a proximal direction, so that forward ends751 ofanchors700 can remain situated in anchor guides770. It may be seen inFIG. 5 that the rearward ends710 ofanchors700 remain closer to the longitudinal axis of the end effector, than the forward ends751, following the above-described movement. This may be advantageous to minimize the possibility of features ofanchors700 catching or snagging on loose bladder wall tissue during the step of urging the bladder into proximity with the pelvic floor, described below. The movement of positioner rod orband3240 and driver actuating rod orband3261 may be effected by any suitable control and mechanism associated withhandle assembly3100, such as by turningknob3103 to actuate a suitable associated mechanism within handle assembly3100 (seeFIGS. 3 and 15).

Following opening of thepositioner arms3441 to the position shown inFIG. 5, by graspinghandle assembly3100, the surgeon may manipulate the instrument to move the end effector downwardly (with respect to the figures) to bringpositioner arms3441 into contact withbladder wall2 surroundingbladder opening4, and subsequently, to urgebladder wall2 surroundingbladder opening4 into proximity withpelvic floor7 surrounding urethra opening6, with the respective openings of the bladder and urethra substantially aligned, as may be appreciated fromFIG. 6.

Now referring to and comparingFIGS. 6 and 7, it can been seen thatFIG. 7 depictsanchor driver arms3461 in a fully opened position, bringinganchors700 into a position closer to parallel or parallel with the longitudinal axis of the end effector, and closer to perpendicular or normal with respect to the pelvic floor. To openanchor driver arms3461 to the position shown inFIG. 7, driver actuating rod orband3261 may be held substantially stationary, while driver opening rod orband3260 may be moved in a distal direction (seeFIG. 24). The distal movement of driver opening rod orband3260 can affect distal movement of driver openingscrew pin3263, which in turn, can cause driver arm struts3262 to push upwardly and outwardly (relative to the figures) onanchor driver arms3461 via driver arm strut pins3264 (not shown). This can moveanchor driver arms3461 outwardly to the position shown inFIG. 7, in a manner similar to that of an umbrella opening. The distal movement of driver opening rod orband3260 may be effected by any suitable control and mechanism associated withhandle assembly3100, such as by turning orpressing knob3103 to actuate a suitable associated mechanism within handle assembly3100 (seeFIGS. 3 and 15).

Now referring to and comparingFIGS. 7-8A and24, it can be seen thatFIG. 8 depicts the described version of instrument after the openedanchor driver arms3461 have been moved downwardly (relative to the figures) to driveanchors700 into and through thebladder wall2 and into the pelvic floor. To move theanchor driver arms3461 to the position shown inFIG. 8, driver actuating rod orband3261 and driver opening rod orband3260 may be moved proximally, which can effect proximal movement of driveractuating screw pin3465, and correspondingly,anchor driver arms3461 and anchors700, so as to driveanchors700 into the tissues as shown. The proximal movement of driver actuating rod orband3261 and driver opening rod orband3260 may be effected by any suitable control and mechanism associated withhandle assembly3100, such as by pressinganchor driving lever3102 to actuate a suitable associated mechanism within handle assembly3100 (seeFIG. 3). It may be desirable for there to be a direct mechanical linkage or connection betweenanchor driver lever3102 and driver actuating rod orband3261 and driver opening rod orband3260, so as to provide the surgeon with tactile feedback throughanchor driver lever3102 as to the driving and seating ofanchors700 in the tissues.

It can also be seen inFIG. 8 thattails3433 ofballoon harness3430 may be held by harness hooks760 ofanchors700. Thus, when anchors700 are driven into the tissues,tails3433 ofballoon harness3430 may be attached at each anchor site, within the bladder and about the bladder opening.Anchors700 may comprise barbs or any other suitable lodging structures on their shafts, so as to cause them to be lodged in and resist withdrawal from the tissues of the pelvic floor.

The present exemplary version includes exemplary mechanisms for guidinganchors700 during driving, and releasinganchors700 fromanchor driver arms3461 upon or after driving.FIGS. 16 and 17D depict anexemplary anchor700 andanchor guide770. As previously described and as may be seen inFIG. 5A, anchor guide axle pins771 may be retained in guideaxle pin notches3449 inanchor guide yokes3448 ofpositioner arms3441, by anchorguide retainer wires3250. Referring again toFIGS. 16 and 17D, anchor guides770 may include keyway features772, with which longitudinal keyway mating features721 ofanchors700 cooperate, such that anchors700 may be guided through anchor guides770 as they move downwardly during driving into the tissues. It will be appreciated that anchors700 may be provided with a keyway feature and that anchor guides770 may be provided with mating features associated therewith. In a further version, the anchor guides770 and theanchors700 may be provided with a combination of keyway mating features and keyway features to guide theanchor700 through theanchor guide770.Anchors700 may also include flexingdisengagement sections711 as shown inFIG. 16. When anchors700 are driven (downwardly, with respect to the figures) through anchor guides770 to where suchflexing disengagement sections711 contact thesides773 of anchor guides770, flexingdisengagement sections711 can be urged inwardly, toward each other where, for example, the distance between thedisengagement sections711 may be reduced. This correspondingly can move anchor axle pins712 inwardly, as illustrated inFIG. 16 and 16A shown moving from A to A′, which can cause them to disengage fromanchor yokes3462 ofanchor driver arms3461, effecting the release ofanchors700 fromanchor driver arms3461.

Referring toFIGS. 8-10 and15, as part of an anchor releasing step, anchorguide retainer wires3250 may be withdrawn in a proximal direction back through retainer wire bores3451 so that anchor axle pins771 can be released from guideaxle pin notches3449 inpositioner arms3441. Referring again toFIGS. 16 and 17D,anchor700 andanchor guide770 may be formed with cooperating features such thatanchor guide770 may function as a washer, anchor head or other holding force distributing, and/or and penetration limiting, structure about therearward end710 ofanchor700, upon the release of these members from the end effector; seeFIGS. 8-9A and10.

As noted above, in the exemplary version anchorguide retainer wires3250 may be withdrawn in order to release anchor guide axle pins771 and correspondingly anchor guides770 frompositioner arms3441. Anchorguide retainer wires3250 may be withdrawn proximally within the tube assembly by any suitable means including a suitable mechanism withinhandle assembly3100 to which anchor guideretainer wires3250 are linked or connected. It will be appreciated that in the exemplary version described herein, anchorguide retainer wires3250 must be withdrawn to release anchor guides770 frompositioner arms3441 after the anchors have been driven into tissues, beforepositioner arms3441 may be closed, but that a variety of other mechanisms for releasing anchor guides, or for releasing anchors from guide structures, are possible.

Still referring to and comparingFIGS. 8,9,10,15, and24, following the release ofanchors700 fromanchor driver arms3461 in the exemplary version as described above,anchor driver arms3461 may be moved distally by distal motion of driver actuating rod orband3261 and driver opening rod orband3260, which act upon driveractuating screw pin3465 and correspondingly anchordriver arms3461.Anchor driver arms3461 may then be closed or retracted by holding driver actuating rod orband3261 substantially stationary while moving driver actuating rod orband3260 in a proximal direction, which pulls driver arm struts3262 downwardly and inwardly (relative to the figures) via driver openingscrew pin3263, and pullsanchor driver arms3461 downwardly and inwardly in a manner similar to that of the closing of an umbrella. Finally,positioner arms3441 may be closed or retracted by moving positioner rod orband3240 in a distal direction, which pulls positioner struts3445 upwardly (relative to the figures) viapositioner actuating pins3446, and correspondingly pullspositioner arms3441 upwardly (relative to the figures) and inwardly in a manner similar to that of the closing of an umbrella, upside-down. Following the closing of the anchor driver arms and positioner arms to the position shown inFIG. 10, the portions of the end effector assembly including thepositioner assembly3440 andanchor driver assembly3460, andtube assembly3200, may be withdrawn in an antegrade direction downwardly (relative to the figure) out of the bladder, out of the urethra, and out of the patient, leaving behindonly balloon harness3430 withguide wire3230, attached attails3433 within the bladder byanchors700 as shown inFIG. 11.

It will be appreciated that any suitable number of rods or bands may be used to actuate theinstrument3000 such as, for example, by using one rod or band to actuate a positioner assembly and a second rod or band to operate a driver assembly in association with a spine member.

It will be apparent to persons skilled in the art that a variety of mechanisms might be comprised byhandle assembly3100 and configured and adapted to transmit longitudinal (distal and proximal) forces and movement to anend effector assembly3400, in order to effect and transmit the forces and movement therein necessary to actuate the exemplary embodiments as described above.

Referring again toFIG. 15, it can be seen that asheath3270 may encasetube assembly3200.Sheath3270 may be formed of any suitable biocompatible polymer or other biocompatible material, and may be provided with a suitable hydrophilic, lubricating and/or anti-bacterial coating.Sheath3270 also may be internally lubricated or be formed of a suitably low-friction or self-lubricating material, and/or otherwise be fashioned so as to be flexible and slidable in distal and proximal directions on the instrument, so that it may be slid in a distal direction overend effector assembly3400 so as to encase the components thereof to ease insertion into and retraction from the urethra, and slid in a proximal direction to expose the operable components ofend effector assembly3400 during actuation inside the bladder.

In a further version, theend effector assembly3400 may be encased by anend sheath3990 to ease insertion into the urethra (FIG. 3A). Theend sheath3990 may be a flexible tube, sealed at one end, which is rolled radially prior to use. Upon application, the sealed end of theend sheath3990 may be applied to the distal end of theend effector assembly3400, where the length of the flexible tube may then be unrolled down the length of theend effector assembly3400 to substantially encase all or a portion of theend effector assembly3400. Theend sheath3990 may also include one or a plurality ofsutures3992 extending along the length of the flexible tube. Thesutures3992 may project from the unsealed end of theend sheath3990 such that a grasper, or other suitable device inserted via a cannula or the like, may grab the exposed length ofsuture3992 and, by pulling distally, re-roll and remove theend sheath3990. Following removal of theend sheath3990, via a cannula or the like, theend effector assembly3400 may be operated as disclosed herein.

As shown inFIG. 12, following attachment of the balloon harness with the bladder and withdrawal of components from the patient as described above, aballoon catheter assembly3500 having a central passage therethrough, may be introduced onto the proximal end ofguide wire3230 and inserted and guided upwardly (in a retrograde direction) into and through the urethra and into the bladder, untilballoon3520 contacts the inside ofballoon harness collar3431 ofballoon harness3430. Referring toFIG. 13,balloon3520 may be inflated with any suitable fluid. Asballoon3520 is inflated, its upper surfaces may form a substantially fluid-tight seal against the inside ofballoon harness collar3431, and its upward and horizontal expansion may be constrained byballoon harness3430. As a result,balloon3520 can be caused to expand downwardly with inflation, thereby contacting and exerting downward pressure against the bladder wall in an area surrounding thebladder opening4, approximately equal to the pressure within the balloon. As a further result, an area ofbladder wall2 surrounding thebladder opening4 can be urged against thepelvic floor7 in an area surrounding theurethra opening6, with the respective openings of the bladder andurethra4,6 substantially aligned. Additionally, thebladder opening4,pelvic floor7 andurethra opening6 can be sealed off so as to prevent urine and other materials collecting in the bladder during recovery and healing from escaping the bladder and entering the abdominal cavity.

Theballoon harness3430 andballoon catheter assembly3500 may then be maintained in place (the balloon catheter assembly may be periodically replaced with a fresh balloon catheter assembly and inflated as described above, as may be required or desired), for a period of time necessary for the tissues of thebladder wall2 and the pelvic floor surrounding respective openings of the bladder andurethra4,6 to effectively knit together. A suitable period of time for knitting may be approximately two weeks, but may vary depending upon the needs and health of the individual patient and individual preferences of the surgeon and the patient. During this period, urine and other materials may be drained from the bladder throughdrainage holes3435 in theharness tip3434 ofballoon harness3430, and then out through the central passage of the catheter. During recovery and healing, the catheter tube may be connected at a proximal end to a urine collection bag (not shown).

Following the period of time necessary for the tissues of the bladder wall and pelvic floor to effectively knit together, theballoon3520 may be deflated and theballoon catheter assembly3500 withdrawn and removed. Next, referring toFIG. 14,guide wire3230 may be withdrawn. Because the distal end ofguide wire3230 may be affixed withinharness tip3434 ofballoon harness3430, withdrawingguide wire3230 can causeballoon harness3430 to evert. A suitable manner of attachment releasable betweenballoon harness tails3433 and anchors700 such as described in pending application Ser. No. 11/094,606 will allow for the release oftails3433 fromanchors700 upon such everting, andballoon harness3430 may be withdrawn downwardly (in an antegrade direction) by withdrawingguide wire3230, and out of the patient. Thus, only anchors700 can be left behind. As described in pending application Ser. No. 11/094,606, anchors700 may be formed of a bioabsorbable material, and if so formed, can dissolve within the body.

It may be appreciated that the combination of a balloon harness structure anchored to the pelvic floor as depicted and described herein, constraining and holding the inflated balloon of a balloon catheter, can have the desirable effect of constraining the catheter from substantial axial or longitudinal movement within the urethra during the period required for anastomosis. Versions of theballoon harness3430 described herein are directed to an efficient and effective means of providing support for aballoon catheter assembly3500 in performing anastomosis procedures.

Referring toFIGS. 12,13 and17A,balloon harness3430 may be anchored within the bladder byharness tails3433 attached to anchors700 (FIG. 16).Balloon harness3430 then may be used to hold, and allow for urine drainage through,balloon catheter assembly3500 viadrainage holes3435 inharness tip3434.Balloon harness3430 may also provide restraining support to aballoon3520 of aballoon catheter assembly3500 retained therein by cradling theballoon3520 within theballoon harness collar3431 andskirt3436, providing for concentration and increase in the amount of downward pressure that may be applied to the bladder wall via the balloon. Versions and features of aballoon harness3430 will be described herein.

Balloon harness3430 may be formed from any suitable biocompatible material such as, for example, a polymeric material. For example, the body ofballoon harness3430 may be formed, for example, by dipping a suitably shaped and sized mandrel into a material vat of uncured liquid polyurethane product such as, but not limited to, Pellethane 2363 90AE, manufactured by Dow Plastics, Midland, Mich. Rotational and/or heated air drying techniques may be used to control wall thickness. Alternatively, the body may be molded with a suitable polymeric material, with wall thickness being controlled in the molding process.

In order to cut and/or form the various features and thereby complete the manufacture of theexemplary balloon harness3430 shown inFIG. 17A, a low powered laser may be employed to cut features of a dipped body, or molding techniques may be incorporated into the body molding process employed, or any other suitable forming means may be employed. To cut features using a laser, a pattern computer file may be used, in combination with a low powered laser, that feeds the linear axis of the laser and rotary actuator to melt a path on the shell (held on a mandrel) that creates, for example, drainage holes, expansion holes, harness length, harness tail, anchor hook holes and/or skirt shape.

If the balloon harness is formed having a wall thickness that is too small, this may result in a harness with insufficient strength and balloon restraining capability. Conversely, wall thickness that is too great may result in a harness that is not sufficiently flexible so as to be foldable within the end effector and/or easily everted for purposes of withdrawal from the patient.

Still referring toFIGS. 12,13 and17A,balloon harness3430 may be provided with ahollow harness tip3434 to allow drainage of urine from the bladder. In one version,harness tip3434 may be sized to effectively fit over the distal portion of aballoon catheter assembly3500 that may be inserted into theballoon harness3430. For example, aballoon catheter assembly3500 may be inserted into and retained withinballoon harness collar3431 andskirt3436 such that the distal portion of theballoon catheter assembly3500 extends into theharness tip3434.Harness tip3434 may be sized to effectively fit over, for example, a 14 Fr or 18 Fr catheter.

Harness tip3434 may be adapted to permit the drainage of urine from the bladder through aballoon catheter assembly3500 inserted intoballoon harness3430. For this purpose,harness tip3434 may be provided with one ormore drainage holes3435 to allow the ingress of fluid. The drainage holes3435 may include, for example, one or more holes positioned wholly or partially on theballoon harness collar3431 and/orharness tip3434.Drainage holes3435 may be of varying sizes and/or shapes and may be configured to effect efficient drainage for any suitableballoon catheter assembly3500 that may be used in combination withballoon harness3430. Versions ofdrainage holes3435 may be, for example, of circular and/or elliptical shapes in a staggered configuration to provide for the efficient drainage of fluid. In the example shown inFIG. 17A, thedrainage holes3435 may include four holes positioned approximately 90° apart around the circumference of theharness tip3434 and may alternate between an elliptical shape and a circular shape and may be staggered axially. It will be appreciated that the shape, configuration, placement, and/or design of thedrainage holes3435 may vary depending on the material used, the thickness of the material and the size of the harness tip.

Still referring toFIG. 17A, theballoon harness collar3431 may be, in one version, an increasing radius portion of theballoon harness3430 adjacent to the base ofharness tip3434, that may extend outwardly therefrom until the unstretched radius of theballoon harness3430 becomes substantially constant. Theballoon harness collar3431, in the version depicted, is the portion of theballoon harness3430 that transitions between theharness tip3434 and theskirt3436. Theballoon harness collar3431 may retain theballoon3520 of theballoon catheter assembly3500 and provide support force that is substantially equal and opposite to the force applied by theballoon3520 to the bladder wall at the anastomosis site. It may be preferable to minimize the extension of any drainage or expansion holes substantially into the collar region because this may lead to a reduction in the downward holding force the harness may exert.

The balloon harness may haveskirt3436, comprising the portion of theballoon harness3430 adjacent to theballoon harness collar3431 extending to the bottom-most point (with respect toFIG. 17A) of theballoon harness3430. Theballoon harness3430 may provide hoop loading to constrain theballoon3520 therein. For example, when theballoon3520 is inflated, theskirt3436 may be of sufficient length so that its bottom edge (with respect to the figures) lies below the vertical mid-point of theballoon3520, so as to preventballoon3520 from sliding out from underballoon harness3430. Alternatively,skirt3436 may be provided with varying radii to achieve a similar purpose.

Skirt3436 also may be provided withexpansion holes3437 formed therein.Expansion holes3437 may be sized and situated so as to permit portions ofballoon3520, upon inflation, to bulge outwardly throughexpansion holes3437, to provide additional support and restraint to theballoon3520 retained therein, and to prevent theballoon harness3430 from shifting or slipping offballoon3520, or preventballoon3520 from shifting or slipping out from under the harness.Expansion holes3437 may include one or a plurality of holes, in one or a plurality of tiers, and may be arranged horizontally, vertically, as a circular cut-out, as an elliptical cut-out, or combinations thereof. The size and placement ofexpansion holes3437 may be selected based upon the extent of balloon bulge-through desired. For example, providing askirt3436 with four largevertical expansion holes3437 may provide more substantial bulge-through than askirt3436 having eight smaller vertical expansion holes3437. Altering the extent of bulge-through of theballoon3520 by altering the size and placement ofexpansion holes3437 may allow tailoring of the amount of balloon support desired and the amount of downward pressure that may be applied by the balloon to the bladder wall. For example, if extensive bulge-through is permitted, this may have the effect of limiting the amount of downward pressure that the balloon may exert on the bladder wall. If expansion holes3437 are situated uniformly and/or symmetrically aboutskirt3436, this may causeharness3430 to promote and/or effect uniform expansion and uniform expanded shape of a balloon at the area of contact with the bladder wall.

Still referring toFIG. 17A,skirt3436 of theballoon harness3430 may be provided with at least oneextension3438. Theextension3438 may be elliptical in shape and of a length sufficient to reach below the vertical midpoint of a balloon. Provided anextension3438 reaching below the vertical midpoint of the balloon may help prevent the balloon from slipping out of theballoon harness3430 where, as theballoon3520 expands, theextension3438 cradles theballoon3520 below the midpoint. It will be appreciated that theextension3438 may be of any suitable shape and/or configuration suitable for cradling and retaining aballoon3520 therein.

FIG. 17A depicts twoextensions3438 configured to straddle and/or cradle aballoon3520 therebetween. At thejuncture3439 of theextensions3438 there may be positioned aharness tail3433 adapted for attachment to ananchor700. Theharness tail3433 may be a strip of material integral with and extending downwardly (with respect to the figure) from theskirt3436. In the version shown, locating theharness tail3433 at thejuncture3439 of theextensions3438 may provide additional support for the balloon between theskirt extensions3438. For example, as theballoon3520 expands within theskirt3436, theskirt extensions3438 may deform and cradle theballoon3520 as they are pushed outward. The length of theharness tail3433 will affect the performance of the strap. A short tail length can minimize the extent to which the balloon may expand below the harness and thereby limit the area of the tissues on which the balloon may exert pressure. Conversely, a longer tail length can allow for more of the balloon to expand outwardly below the harness, increasing the area on which pressure is exerted on the tissues, but decreasing the maximum amount of pressure that may be exerted. The dimensions of the tail will also affect its tensile strength in holding the strap to the anchors while the inflated balloon is being restrained. The tensile strength of the tail (or combined tensile strength of the tails) should be considered so that it is a suitable multiple of the maximum downward holding force required, so as to provide an acceptable margin of safety.

Harness tail3433 may be provided with at least oneanchor hook hole3432 therethrough to accept the insertion of aharness hook760 of anchor700 (FIGS. 10-11). Varying the length of theharness tail3433 may allow for manipulation of the extent ofballoon3520 expansion below theskirt3436 from inflation, and the resulting downward pressure applied by the inflated balloon against thebladder wall2. As one possible mechanism for attachingharness tail3433 to anchor700, ananchor hook hole3432 may be cut or formed inharness tail3433.Anchor hook hole3432 may be sized to stretch to accept insertion of a suitablysized harness hook760. Theharness hook760 may be inserted therethrough before use, and may be retained therein with a suitable snap feature or friction fit between theanchor hook holes3432 andhook760 during the anastomosis procedure. Upon completion of use and final withdrawal of the balloon catheter, theharness tail3433 andballoon harness3430 having this exemplary attachment mechanism can be disengaged from the harness hook of the anchor by applying sufficient pulling/withdrawal force on the guide wire, everting the balloon harness and tail, and overcoming the resistance of the snap and/or friction fit between theanchor hook holes3432 and theharness hook760. Theballoon harness3430 can then be withdrawn from the bladder, leaving theanchors700 behind. It will be appreciated that any suitable attachment system or method may be employed to provide a detachable connection between theanchor700 and theballoon harness3430. For example,harness tail3433 may be formed withoutanchor hook hole3432, and of a material that may be punctured at the desired location by a suitablyshaped harness hook760. If an anchor hook hole or puncturing attachment method is used with the harness tail, the size and shape of the hole or puncture will affect the tensile holding strength of the tail.

Still referring toFIG. 17A, the length of the harness may be, for example, about 0.925 inches as measured from the bottom of the skirt extension to the distal end of the harness tip. The length of the skirt may be, for example, from about 0.45 inches to about 0.65 inch, and it may be preferable for the bottom of the skirt extension to be below the balloon's vertical midpoint when the balloon is inflated to suitable pressure. The interior unstretched diameter of the skirt may be about 0.75 inches, or have any other constant or varying diameter.Harness tail3433 may be, for example, about 0.13 inches in length.Anchor hook hole3432 may be about 0.013 inch in diameter. A wall thickness of about 0.009 inch (assuming it is formed from the material specifically identified herein) may allow the balloon harness to have characteristics striking a suitable balance between strength and flexibility for use as described herein.Expansion holes3437 may be include, for example, eight expansion holes situated about the circumference of theskirt3436 such that upon inflation of theballoon3520 the bulge-through of the apertures is substantially uniform although not necessarily symmetrical. A substantially consistent bulge-through may diminish the distortion of theballoon3520 when inflated, thereby providing a more uniform zone of pressure on the bladder wall and around the bladder opening.Drainage holes3435 may be sized to provide fluid ingress area substantially equivalent to that of an 18 Fr catheter.

As an alternative to the necessity for detachment from anchors and withdrawal of the balloon harness following the anastomosis procedure, a balloon harness may be formed from a suitable bioabsorbable material, with a time degradation characteristic that suitably corresponds to the time required for effective knitting of tissues in the anastomosis procedure. This would eliminate the necessity for a mechanical or structural release mechanism with respect to release of the balloon harness from the anchors, and reduce the number of components that must be withdrawn down through the urethra and out of the patient to complete the procedure following effective knitting of the tissues.

It will be appreciated that theballoon harness3430 may be sterilized prior to use via autoclave, EtO, and/or with gamma radiation, where the effects of such sterilization techniques on the material may be considered in manufacturing theballoon harness3430.

Referring toFIG. 17B, another version of a balloon harness assembly in the form ofstrap harness assembly3622 is depicted having astrap harness3630 and at least oneanchor700 attached thereto. Theanchor700 may be provided with arearward end710 and aforward end751. Thestrap harness3630 may include afirst strap3660 and asecond strap3662 configured to retain a balloon of a suitably cooperating shape during an anastomosis procedure. Thefirst strap3660 andsecond strap3662, with reference to the illustratedFIG. 17B, may be affixed proximally at one end to therearward end710 of theanchors700.

Thestraps3660,3662 may be attached at the other end to aguide wire3230 at aconnection3664. Thestraps3660,3662 may be integral with theguide wire3230, or may be mechanically or adhesively attached thereto. When thestrap harness assembly3622 is deployed in substantially the same manner as other versions of a balloon harness assembly described herein, aballoon catheter assembly3500 may be guided into the bladder by theguide wire3230. Theballoon catheter assembly3500 may be inserted into the bladder along theguide wire3230 until theballoon catheter assembly3500 is fitted within thestraps3660,3662.

Straps3660,3662 may be formed from any suitable biocompatible material, including but not limited to a polymeric material and/or suture material. Thestraps3660,3662 may be mechanically detachable from theanchors700 or, for example, they may be partly or entirely constructed from a bioabsorbable material, such as Vicryl, a product of Ethicon, Inc., Somerville, N.J., that will dissolve within an appropriate period of time, leavingonly guide wire3230 to be removed at the completion of the anastomosis procedure. It will be appreciated that versions herein include providing for the mechanical release of thestraps3660,3662 from theanchors700, the use of a degradable material for any suitable element of thestrap harness assembly3622, and the use of one or a plurality ofstraps3660,3662 in combination with one or a plurality ofanchors700, with a suitably shaped balloon formed to fit therewithin.

Referring toFIG. 17C, another version of a balloon harness assembly in the form of anet harness assembly3722 may include anet harness3730 and at least oneanchor700 attached thereto. Theanchor700 may be provided with arearward end710 and aforward end751. Thenet harness3730 may comprise, for example, a mesh-like member formed of sutures or other mesh material suitably configured to retain a balloon. Thenet harness3730 may be affixed proximally to therearward end710 of theanchors700 with, for example, an adhesive connection, a mechanical connection, and/or with a bioabsorbable material, such as Vicryl. Theguide wire3230 may be connected to thenet harness3730 at the distal apex thereof, as illustrated, with, for example, an adhesive attachment, an integral construction, a mechanical connection, or with a bioabsorbable material, such as Vicryl.

Referring again toFIG. 17A,guide wire3230 may be, for example, stainless steel, 0.0115 inches in diameter, and have a PolyTetraFluoroEthylene (PTFE) lubricating coating.Harness tip3434 may be formed with a hole at its distal end or with any other suitable mechanism for locating and/or affixing the distalend guide wire3230 therewithin. The hole may be utilized as a means to locate, install and/or affixguide wire3230 withinharness tip3434.Guide wire3230 may be, for example, inserted through a hole at the distal end ofharness tip3434 and have its distal end held therein by a catching feature or restriction formed within the hole. When in place, theguide wire3230 may then extend from theharness tip3434 as shown, in a proximal direction having a length sufficient to reach outside the patient's body when the balloon harness is anchored in place within the bladder.Guide wire3230 may facilitate and improve the accuracy and efficiency of inserting aballoon catheter assembly3500 into the bladder, and also can provide a mechanism for withdrawing theballoon harness3430 from the bladder, down the urethra, and out of the patient. Threading aballoon catheter assembly3500 onto theguide wire3230 may allow for theballoon catheter assembly3500 to be inserted into the patient and positioned substantially optimally with little guesswork. In the absence of a hole at the distal end ofharness tip3434, aguide wire3230 may be permanently or detachably coupled to the distal end of theharness tip3434 by, for example, providing a potted loop attachment, an adhesive connection, a stitch held within theharness tip3434, by piercing theharness tip3434, or by any other suitable attachment mechanism.

Examples of catheters that may serve as suitable components of a balloon catheter assembly as described herein include, but are not limited to, 18 Fr Rochester Medical catheters, Stewartville, Minn., having a silicone balloon from Polyzen, Inc., Apex, N.C. Any suitable size or configuration of catheter may be used in accordance with versions herein. Theballoon catheter assembly3500 and/or theballoon harness3430 may be coated with a hydrophilic, lubricating, and/or anti-bacterial coating.

Referring toFIG. 23, one version of theballoon catheter assembly3500 may include, towards the proximal end,guide wire retainer3900, aurine removal port3902, and aninflation port3904. Theguide wire retainer3900 may be an assembly extending from thecatheter tube3510, through whichguide wire3230 passes. Theguide wire retainer3900, at its distal end, may be connected to ahollow plug3906 acting as a connection to theballoon catheter assembly3500. More proximally, theguide wire retainer3900 may include aseal3908 allowing for the passage of theguide wire3230 therethrough, while preventing the passage of urine. Aguide wire clamp3910, operably configured to retain and substantially restrict the longitudinal movement of theballoon catheter assembly3500 along theguide wire3230, may be positioned adjacent to theseal3908 and may be, for example, a pin vice. It will be appreciated that multiple variations of theguide wire retainer3900 may be provided in accordance with the disclosure herein. Providing aguide wire retainer3900, as illustrated, allows for theballoon catheter assembly3500 to be safely held substantially in place for the duration of an anastomotic procedure.

Still referring toFIG. 23, theurine removal port3902 may be affixed, at its distal end, at an angle to thehollow plug3906, and may include any suitable means for removing and/or retaining urine. Thehollow plug3906, having theguide wire retainer3900 and theurine removal port3902 integrally attached thereto may, at its distal end, be operably configured to combine with one prong of acoupler3912 in a friction fit. Thecoupler3912 may be, for example, a polymeric Y-shaped connection member having an angled prong operably configured as theinflation port3904. Theinflation port3904 may contain a one-way valve3914 with a lumen therethrough, through which inflation fluid may be pumped by, for example, a syringe, or other fluid pumping means, in isolated fluid interconnection with theinflation lumen3511, for the delivery of fluid, air, and/or gas pressure to theballoon3520. Thecoupler3912 may further include a third prong affixed to the proximal end of thecatheter tube3510 connecting theinflation port3904, theurine removal port3902, and theguide wire retainer3900 to thecatheter tube3510.

Another version of theinflation port3904 may include a two-way valve and/or a release valve mechanism incorporated with the inflation lumen that can serve to limit the fluid pressure inside the balloon by bleeding off fluid to release or limit pressure in the inflation lumen exceeding a desired amount. Providing a two-way or pressure-release valve in this manner can allow for inflation of the balloon to a known, consistent pressure limit, reducing the need for precision during inflation in actual use. The other leg of the Y-connection may be in isolated fluid communication with the main or central passage of the catheter, and used for urine drainage. It will be appreciated that multiple versions of theguide wire retainer3900,urine removal port3902, and/orinflation port3904 are in accordance with the examples disclosed herein.

Referring toFIGS. 19-22, it may be desirable to have aballoon3520 of a pear shape, at the distal portion of the catheter assembly, with the larger diameter of the shape nearest to the distal end of the assembly. This may provide for expansion of theballoon3520 upon inflation to a larger diameter first nearer the distal end of the catheter, in the uppermost portion (with respect to the figures) of theballoon harness3430, so as to draw itself into the bladder if was not fully inserted. Alternatively,balloon3520 may be formed to have any other suitable shape.

Balloon3520 may be formed from, for example, Rhodia V4000 silicone applied onto a polished DP9646-T14 mandrel, from Polyzen, Inc., Apex, N.C., by dipping into a material vat, to create a balloon skin having a pear shape. After dipping, rotation and heated air drying may be applied to control and promote a uniform skin thickness. A skin thickness of about 10 mil±0.0015 inch may be suitable. The smaller-diameter proximal end of the skin may be sized to snugly fit without substantial stretching around the selected catheter tube, which might be, for example, 14 Fr or 18 Fr, so as enable a secure bond with adhesive about the tube. The proximal end of the skin may be created by cutting around the mandrel at an appropriate location having the desired diameter corresponding to the selected catheter tube. The larger-diameter distal end of the skin may be cut around the mandrel to establish the desired length of the balloon skin. A suitable completed balloon having an inflatable length (along the longitudinal axis of the catheter) of about 0.65 inch may be constructed from a skin prepared in this manner. The balloon skin may be removed from the mandrel by injection of air. Each end of the skin may then be adhered to the catheter tube using Novagard RTV 800-306 UV/Dual Cure Class VI Paste, from the Dymax Corporation, Torrington, Conn. The balloon skin may be adhered at each of its ends to the catheter tube by a layer of adhesive applied around the tube circumference.

In versions described herein, the balloon may be sized to fit between theanchors700 as spaced apart by the end effector assembly after driving, to fill the balloon harness3420, and to provide adequate tissue contact area and pressure when inflated to suitable pressure. The horizontal diameter of theballoon3520 when inflated, for example, may be about 0.75 inch, varying with the amount of inflation pressure and quantity of inflation fluid pumped thereinto. In one version, theballoon3520 may be inflated to about 3.2 psi, to from about 3.2 to about 8.3 psi, and/or to from about 0.1 psi to about 3.2 psi. Otherwise, the manufactured diameter of the balloon when inflated to the pressure desired for the anastomosis procedure may be selected based upon the installed spacing of the anchors. As noted, the overall length of theballoon3520 may be, for example, about 0.65 inch before inflation.Balloon3520 manufactured as set forth herein may increase in length with the addition of inflation fluid, might reach a maximum inflation diameter (prior to bursting) of about 1.63 inches, and might sustain maximum inflation pressure prior to bursting of about 4.4 psi when unconstrained by a harness as described herein, and about 8.3 psi when constrained by a harness as described herein. Repetitive inflation and deflation may result in some loss of the balloon's pressure-sustaining capability.

InFIG. 19, an example of aballoon catheter assembly3500 is depicted having acatheter tube3510. A version ofballoon3520 is depicted that circumferentially surrounds thecatheter tube3510 at about the distal end thereof and which may be inflated viainflation lumen3511 andinflation port3512. In the version shown inFIG. 19, at least a portion of theouter surface3800 of the balloon skin has been everted and adhered to thecatheter tube3510 to formballoon3520. Forming the balloon in this manner can reduce the number of abrupt protruding edges present at the distal end of the balloon catheter assembly that may damage, irritate, and/or interfere with the insertion of the balloon catheter assembly into, the urethra.

FIG. 20 illustrates another version of aballoon catheter assembly3500 having aballoon3520 that circumferentially surrounds thecatheter tube3510 at about the distal end thereof and which may be inflated viainflation lumen3511 andinflation port3512. In the version shown inFIG. 21, thecatheter tube3510 may be provided with a circumferential recess orstep3820 in which the proximal end of the balloon skin may be located and adhered to formballoon3520 as shown. Providing a catheter tube withrecess3820 and adhering the balloon skin in such recess as shown in the figure can further reduce the number of abrupt protruding edges present that may damage, irritate, and/or interfere with the removal of the balloon catheter assembly into, the urethra.

FIG. 21 illustrates another version of aballoon catheter assembly3500 having aballoon3520 that circumferentially surrounds thecatheter tube3510 at about the distal end thereof and which may be inflated viainflation lumen3511 andinflation port3512. In the version shown inFIG. 21, the distal end of thecatheter tube3510 may be provided with an annular recess orstep3850 into which the distal end of the balloon skin may be everted and adhered to formballoon3520 as shown. Providing a catheter tube with recess orstep3850 and adhering the balloon skin in such recess as shown in the figure can further reduce the number of abrupt protruding edges present that may damage, irritate, and/or interfere with the removal of the balloon catheter assembly from, the urethra.

FIG. 22 illustrates another version of aballoon catheter assembly3500 having aballoon3520 that circumferentially surrounds thecatheter tube3510 at about the distal end thereof and which may be inflated viainflation lumen3511 andinflation port3512. The version ofFIG. 22 illustrates a combination of the distal balloon skin attachment ofFIG. 21 and the proximal balloon skin attachment ofFIG. 20, which if provided, may reduce even further the number of abrupt protruding edges present that may damage, irritate, and/or interfere with the insertion and removal of the balloon catheter assembly into and from, the urethra.

Still referring toballoon3520 as shown inFIGS. 19-22, anastomosis procedures may require leaving a balloon catheter assembly in place for about two weeks. In accordance with examples described herein, aballoon3520 having a skin formed from a permeable or semi-permeable material may be provided, and filled with sterile water, saline solution, air, gas, or any other suitable inflation fluid, or combinations thereof. Whenballoon3520 is formed from such a material, over time,balloon3520 may, through osmosis or diffusion, change in volume and inflation pressure as a result of interaction of urine, fluid, gas, and/or air in the bladder, the inflation fluid used, and the balloon skin. This may be advantageous where, for example, the slow escape of material from the balloon into the bladder may gradually reduce the pressure within, and therefore applied by,balloon3520, against thebladder walls2. Reducing the pressure over time can allow for increasing of blood flow over time in the pelvic floor and bladder wall after knitting of tissues has begun. Air or other gas used as the inflation fluid may escape from the balloon more rapidly than sterile water or saline solution, and therefore, might not be suitable in some circumstances. Differences in salinity between the inflation fluid and the environment (consisting substantially of urine) will affect osmosis of water into or out of the balloon and the rate thereof. If sterile water or saline solution having lower salinity than the patient's urine is used as the inflation fluid, osmosis of water out of the balloon can occur, and the rate of osmosis might be manipulated by selecting the salinity of the inflation fluid.

It will be appreciated by those skilled in the art that the methods of manufacture, materials used, and features incorporated into the balloon and balloon harness as described herein may be varied, but that such variations are within the scope of the present invention. In particular, the objective of the versions described is to provide for a suitably matched balloon harness and balloon that can be used in combination as a means to exert suitable downward pressure against the bladder wall, urging it against the pelvic floor, in an area surrounding the openings in the bladder and urethra, whereby the balloon will be kept and constrained within the balloon harness. One objective is to cause substantially effective sealing of the bladder wall against the pelvic floor to prevent the leakage of urine into the abdominal cavity during the time required for the respective tissues to effectively knit. Another objective is to promote effective knitting of the respective tissues of the pelvic floor and the bladder wall surrounding the openings of the bladder and urethra.

At the same time, it is desirable to avoid exerting excessive pressure against the tissues for extended periods of time in a manner that will unacceptably decrease circulation that helps knitting and healing, and unacceptably increase the possibility of necrosis. Utilizing techniques described herein or other suitable techniques, a balloon harness and balloon combination may be designed and manufactured that can be used to exert, for example, tissue pressures that diminish from about 100 mmHg to about 32 mmHg over the course of 48 hours. It will be appreciated that any suitable pressures and/or any suitable time durations may be utilized to adequately knit tissue.

ANCHORS

As described herein, anchors700 or other suitable fasteners perform a holding function, holding the bladder wall to the pelvic floor and holding a harness to the bladder wall and/or pelvic floor. Each of the anchoring and/or fastening features discussed herein is only exemplary of a large number of designs and configurations possible within the scope of the invention.

Ananchor700 or other fastener may have one or more suitable lodging structures that function to cause the anchor to lodge in tissues after being driven thereinto, so as to resist withdrawal from the tissues. Such lodging structures may comprise barbs, circumferential ridges, projections or any other features effective to cause the anchor to lodge in the tissues when driven into them. The size, shape and number of suitable lodging structures may vary. Additionally, the inventors have determined that, whenever barbs are included on an anchor it may be desirable when manufacturing such an anchor, to round off, or radius, the protruding ends of the barbs (as viewed from the anchor forward end), in order to reduce the possibility that the barbs will snag on loose bladder wall tissue during insertion and opening of an anchor driver assembly, on which the anchor is loaded, inside the bladder.

An anchor or other fastener may also have a head or other suitable penetration-limiting structure that may function to limit the depth to which the anchor or other fastener may be driven and may also function to assist in securing proximal tissues to underlying, distal tissues. It will be appreciated that such a penetration-limiting structure need not necessarily be located at the rearward end of an anchor shaft to be effective.

It may be desirable that the forward end of an anchor be pointed or have a chisel-like shape, to facilitate more effective and/or less damaging penetration of tissues. Additionally, the inventors have determined that a point formed on the forward end of a cylindrical anchor shaft comprising three sloping flat faces in planes intersecting each other at equal angles, facilitates penetration of the anchor into tissues in a manner that minimizes the potential for the anchor to veer off-target or off-direction during driving.

When used to secure the walls of the bladder to the pelvic floor, it may be desirable for anchors to be of a length sufficient to penetrate through the bladder walls and the fascia layer of the pelvic floor. For example but not by way of limitation, such anchors are preferably about ½-inch to 2½-inches in length. For anchors that are to be installed near the rectum, it may be desirable for them to be at the shorter end of the preferred range of length.

Anchors700 or other suitable fasteners may be formed from a substantially biocompatible polymer or metal. Where shape memory and elasticity may be desired, anchors may be manufactured using elements made of an elastic material, such as an elastic metal alloy or a thermally activated or activatable alloy, such as a nickel-titanium alloy (for example nitinol) or stainless steel alloy, so that the anchors or other fasteners may be preformed and biased with shaped ends or barbs along the shaft, which can be deployed by pushing them out of an instrument so that when they pass into the target tissue, they resume their shape within the target tissue.

If bioabsorbability is desired, anchors700 or other suitable fasteners may be formed of a suitably substantially biocompatible and bioabsorbable material. The inventors have determined that flexible absorbable polymers (e.g., polydioxanone polymers, or polymers containing lactides, glycolides, polyglactin, etc., such as the polymers marketed by Johnson & Johnson and/or Ethicon, Inc. under the trademarks “Vicryl” and “PDS II”) are potentially suitable materials. Other bioabsorbable materials having the necessary physical properties may be used.

When used to anchor harness straps for a balloon and harness system such as depicted and described herein, bioabsorbable anchors may be used to provide a bioabsorbable harness release mechanism that avoids the necessity for, or reduces the importance of, a structure or device capable of attaching a harness to, and then releasing a harness from, an anchor by mechanical means. By way of example but not of limitation, referring toFIG. 16, it can be appreciated that if a structure such asharness hook760 onanchor700 is bioabsorbable, with a time degradation characteristic that corresponds to the time required for the anastomosis procedure, the degradation and dissolution ofharness hook760 through bioabsorption will serve to release harness3430 (see, e.g.,FIG. 14), facilitating removal from the patient.

Additionally, there may be situations when the control of the degradation and absorption profile and/or particle breakup size of a bioabsorbable anchor or other suitable fastener may be desirable. For example, should one or more pieces of a bioabsorbable anchor, such as, for example, the head of an anchor, break away in a large piece as the anchor material is degrading after deployment, it could cause a blockage. Accordingly, bioabsorbable anchors, anchor guides, or other suitable fasteners may be designed and manufactured in a manner in which degradation rates and particle breakup size may be controlled. For example, a bioabsorbable anchor or other fastener may be formed with a cast, molded, embossed or machined-in arrangement of scoring, perforation, or grooving that creates areas of reduced thickness and increased stress of the part in selected locations, encouraging earlier fracture proximate to such areas for the purpose of reducing the size of portions that may break away as the material degrades. Alternatively, or additionally, a bioabsorbable anchor or other fastener may be formed of joined materials, or comprise joined components, having differing degradation/absorption profiles such that zones of faster and slower degradation within the part may be created, such that the possibility of breakaway and release within a body lumen of pieces that are large enough to create a possibility of blockage or other adverse effect is reduced.

In still a further embodiment, an anchor may be formed of a bimetallic or other combination of at least two materials having differing expansion properties, that will cause the part formed therefrom to take a desired shape after heating, for example, by the patient's body. In such a case, the anchor would be supplied in a cold or room-temperature state and then allowed to attain the final desired shape after installation, when heated by the patient's body.

Although nitinol may be used in this service because of its physical properties and its significant history in implantable medical devices, it may also be suitable for use as an anchor because of its overall suitability for use in conjunction with or contemplation of use of magnetic resonance imaging (MRI) technology.

An example of a method for effecting anastomosis of the bladder and urethra following a prostatectomy, as depicted and described herein, involves the driving of anchors into the pelvic floor. In such a procedure it may be desirable for anchors to be driven into the pelvic floor in locations that avoid sensitive areas and thus reduce the potential for complications. For example, referring toFIG. 18, it may be desirable to avoid driving anchors into areas proximate to the dorsal veins D of the penis, other neurovascular bundles N, the rectum R, or other sensitive anatomical features. Accordingly, referring toFIG. 18, the inventors have determined that anchors are preferably driven into the pelvic floor at locations within the zones of about 8 to about 10 o'clock, and about 2 to about 4 o'clock, about the urethra U, as shown at “A” and “B” respectively inFIG. 18. More preferably, as may be the case, for example, with use of the balloon and harness systems depicted and described herein, two anchors are driven into the pelvic floor at locations at about 9 and about 3 o'clock about the urethra, with respect toFIG. 18.

It also is important, when using an instrument of the present invention to install anchors, to avoid driving anchors into, through or across the ureteric orifices of the bladder. The exemplary embodiments of an instrument described herein facilitate avoidance of this event.

HANDLE

The inventors also have developed an exemplary version of a handle assembly for the instrument that provides advantages in use of the instrument to effect the method of the present invention. Referring toFIG. 3, handleassembly3100 may includehand support3101 andanchor driving lever3102 that moves about afulcrum3104, and have a generally ergonomic shape as shown.Anchor driving lever3102 may be directly mechanically linked to anchor driver actuating rod or band3261 (seeFIG. 15), which in turn may be directly linked to anchor driver arms3461 (see, e.g.,FIG. 7), which can result in providing the surgeon with tactile feedback throughlever3102 concerning the driving and seating of anchors in the tissues. Referring toFIG. 3, whentube assembly3200 includes a bend angle as shown (and as further described in pending application Ser. No. 11/096,606),hand support3101 assists the surgeon in manipulating the instrument in a manner that utilizes the architecture of the pelvis, particularly the pubic arch, including the pubic crest, pubic tubercle, the pubic symphysis, and/or tissue associated therewith, as a fulrum point against which thetube assembly3200 is manipulated, to assist in drawing theend effector assembly3400 downward (i.e., in a retrograde direction) to draw the bladder to the pelvic floor following opening of the positioner arms within the bladder and in preparation for driving anchors.Handle assembly3100 also may be affixed in any suitable manner totube assembly3200 such that no relative rotation betweenhandle assembly3100 and tube assembly3200 (about the longitudinal axis of tube assembly3200) is permitted. It will also be appreciated that in this event the orientation oflever3102 andhand support3101 with respect to the bend angle intube assembly3200 enable the surgeon to easily visually determine the orientation ofend effector assembly3400 within the bladder by seeing only handleassembly3100, enabling the surgeon to manipulate the instrument to ensure that the anchors will be driven at desirable angles and locations with respect to the urethra, such as, for example, locations “A” and “B” as depicted inFIG. 18 and as further described above. The feature ofhandle assembly3100 that facilitates such easy visual determination may be in a non-uniform, or asymmetric, profile of theassembly3100 when viewed from either side as shown in the figure. Alternatively, handleassembly3100 may be provided with one or more markings or other visible features that serve as indicators of the orientation of the end effector assembly within the patient, the depth of the catheter, the orientation of the end effector assembly, the position of the end effector assembly, and/or the depth of the anchors after insertion into tissue.

The above-described versions of various components are examples of portions of an instrument that may be used for one or more of the steps of bringing and holding of the bladder in contact with the pelvic floor with the openings in the bladder and urethra substantially aligned, driving anchors through the bladder wall and into the pelvic floor, securing a balloon harness within the bladder lumen, inflating a balloon within the balloon harness and thereby applying pressure to the bladder wall to effect knitting of the bladder wall with the pelvic floor, and draining urine from the bladder during the time required for recovery and healing, to effect an anastomosis between the bladder and the urethra following a prostatectomy.

It will be appreciated by one skilled in the art that the components described above may have alternative configurations and embodiments useful for effecting the same steps. It will be appreciated by one skilled in the art that the components described above may, alternatively, be designed and configured so as to be useful for effecting the above-described steps in an antegrade direction rather than a retrograde direction as described above.

Thus, it can be appreciated by one skilled in the art that the mechanism comprising thepositioner assembly3440 and performing the bladder positioning function thereof may have a variety of alternative configurations including but not limited to embodiments described in pending application Ser. No. 11/094,606 (and thus including, without limitation, the positioner assembly400, shuttlecock assembly800 with positioner petals830 (FIGS. 17-21), umbrella assembly900 with reverse positioner petals930 (FIGS. 22-27), described therein, or positioner2017 (FIGS. 122-126),2090 (FIGS. 110-118),2122 (FIGS. 95,96,103-109) and2168 (FIGS. 83,84,89-94) (all of which are described therein)), providing a transversely retractable and extendible device useful for, referring toFIG. 4, insertion in a retracted position in a retrograde direction through theurethra5 and intobladder opening4, extending or expanding withinbladder lumen8, catching inbladder opening4 and manipulating to urgebladder wall2 surroundingbladder opening4 into contact withpelvic floor7 surrounding urethra opening6 with the respective openings aligned; or alternatively, insertion in a retracted position in an antegrade direction through an incision in the abdomen and an upper surface of thebladder1, extending or expanding withinbladder lumen8, catching inbladder opening4 and manipulating to urgebladder wall2 surroundingbladder opening4 into contact withpelvic floor7 surrounding urethra opening6 with the respective openings aligned. Generally, the positioner assembly may comprise and make use of any number of alternately extendable and retractable projections, petals, arms, claws, or other grasping or catching members for catching and gaining control ofbladder wall2 surroundingbladder opening4. The positioner assembly may have at least one member operably connected to a longitudinal member of the instrument and alternately extendable transversely from and retractable toward the longitudinal axis thereof in response to input by a surgeon at a proximal end of the instrument. Alternatively, the instrument may be designed such that positioner arms per se may be dispensed with or otherwise have their functions as described herein be performed by other components, such as features or extensions of the anchor driver arms or other members in mechanical communication with the handle assembly.

In view of various configurations of an instrument and steps suitable for performing an anastomosis procedure as described herein, the scope of the present invention is limited only by the claims set forth below and all permissible equivalents.

Claims (14)

1. An instrument for use in a procedure to effect anastomosis of a patient's bladder and urethra following a prostatectomy, comprising:

a flexible tube assembly, comprising a spine member and a rod movable with respect to said spine member; and

an end effector assembly operably supported by said tube assembly, the end effector further comprising:

an anchor driver assembly in operable mechanical communication with said rod and actuatable by movement of said rod to drive an anchor,

an anchor releasably held by said anchor driver assembly by a movable engagement member,

an anchor guide held by said end effector assembly, wherein the anchor guide defines a preformed guide opening sized to permit insertion of the anchor therethrough, and

an anchor guide release member, wherein the anchor guide release member is movable to release the anchor guide from the positioned,

wherein said anchor guide guides said anchor through the preformed guide opening when said anchor is driven by said anchor driver assembly,

wherein the anchor guide comprises an anchor disengagement feature configured to contact the moveable engagement member and thereby move the engagement member to disengage the anchor from the anchor driver assembly when the anchor is driven through the preformed guide opening.

2. The instrument ofclaim 1 wherein said moveable engagement member comprises a pair of flexing disengagement sections adapted to contact and interact with said anchor guide when said anchor is driven by said anchor driver assembly through the preformed guide opening.

3. The instrument ofclaim 2 wherein each of said pair of flexing disengagement sections comprise an anchor axle pin, wherein each of said anchor axle pins is pivotably engaged with said anchor driver assembly and may be disengaged when said pair of flexing disengagement sections are urged inward by contact and interaction with said anchor guide during driving of said anchor through the preformed guide opening, thereby releasing said anchor from said end effector assembly.

4. The instrument ofclaim 1 wherein said preformed guide opening has keyway features and said anchor has keyway mating features.

5. The instrument ofclaim 4 wherein said anchor guide is releasable from said end effector assembly and said anchor and said anchor guide have cooperating features whereby said anchor guide may couple with said anchor to form a head portion thereof.

6. The instrument ofclaim 1 wherein said anchor comprises a penetration limiting structure.

7. The instrument ofclaim 1 wherein said anchor comprises a lodging structure.

8. The instrument ofclaim 1 wherein said anchor is formed of a bioabsorbable material.

9. The instrument ofclaim 5 wherein said anchor and said anchor guide are formed of bioabsorbable material.

10. An instrument for use in a procedure to effect anastomosis of a patient's bladder and urethra following a prostatectomy, the instrument comprising:

a tube assembly, the tube assembly comprising a first longitudinal member and a second longitudinal member, wherein the first longitudinal member is movable with respect to the second longitudinal member; and

an end effector assembly supported by the tube assembly, wherein the end effector assembly defines a longitudinal axis, the end effector assembly further comprising:

an anchor driver assembly in mechanical communication with the first longitudinal member and actuatable by movement of the first longitudinal member to drive an anchor,

an anchor pivotably and releasably held by the anchor driver assembly,

a positioner member movable from a retracted position to an extended position relative to the longitudinal axis, wherein the positioner member is located proximal to the anchor driver assembly, wherein the positioner member comprises an anchor guide movable with the positioner member from the retracted position to the extended position, wherein the anchor guide defines a guide opening sized to permit insertion of the anchor therethrough,

wherein the anchor guide guides the anchor through the guide opening when the anchor is driven by the anchor driver assembly and when the positioner member is in the extended position,

wherein the anchor guide is operable to couple with the anchor and release from the positioner when the anchor is driven through the preformed guide opening to form a head portion upon release of the anchor guide from the positioner such that the released anchor guide and the driven anchor together form an anchor assembly having the head portion.

11. The instrument ofclaim 1 wherein the movable engagement member comprises a pin.

12. The instrument ofclaim 11 wherein the pin is part of the anchor.

13. The instrument ofclaim 1 wherein the anchor guide release member comprises a wire.

14. An instrument for use in a procedure to effect anastomosis of a patient's bladder and urethra following a prostatectomy, comprising:

a flexible tube assembly, comprising a spine member and a rod movable with respect to said spine member; and

an end effector assembly operably supported by said tube assembly, the end effector further comprising:

an anchor driver assembly in operable mechanical communication with said rod and actuatable by movement of said rod to drive an anchor,

an anchor releasably held by said anchor driver assembly by a movable engagement member,

an anchor guide held by said end effector assembly, wherein the anchor guide defines a preformed guide opening sized to permit insertion of the anchor therethrough, wherein said anchor guide guides said anchor through the preformed guide opening when said anchor is driven by said anchor driver assembly, wherein said preformed guide opening has keyway features and said anchor has keyway mating features; and

an anchor guide release member, wherein the anchor guide release member is movable to release the anchor guide from the positioner.

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